Automatic patrol robot based on SLAM

Abstract

The utility model discloses an automatic patrol robot based on SLAM, and relates to the technical field of intelligent robots. In order to solve the problems that an existing automatic patrol robot is lack of self-adaptive capacity to terrains and cannot be subjected to self-adaptive adjustment according to different ground conditions and working environments, the following technical scheme is provided: the robot comprises a chassis and a holder arranged at the top of the chassis; the chassis comprises wheels, a shock absorber and a frame which are connected in sequence; a motor for driving the wheels and a motor speed regulator for controlling the rotating speed of the motor are arranged in the frame; a sliding ring structure is arranged between the holder and the chassis, and the holder is provided with an electric control module used for the patrol process of the robot and an electric control system in communication connection with the electric control module. According to the utility model, not only are the autonomy and the intelligent level of the patrol robot improved, but also the reliability and the efficiency of the patrol robot in practical application scenes are enhanced, and the patrol robot is suitable for various scenes such as security and polling.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent robots, in particular to an automatic patrol robot based on SLAM. Background Art

[0002] In today's era of rapid development of intelligent and automated technologies, the importance and application scope of automatic patrol robots, as important applications in the fields of security, inspection and environmental monitoring, are expanding day by day. Such robots can autonomously or semi-autonomously perform patrol tasks in a preset area, effectively improving work efficiency and reducing labor costs. They can also work in dangerous environments or environments that are not suitable for direct human intervention to ensure personnel safety. Among them, the automatic patrol robot based on Simultaneous Localization and Mapping (SLAM) technology is a key technological breakthrough in this field.

[0003] SLAM technology is a technology that allows robots or other mobile devices to locate and map in unknown environments at the same time. It integrates data from sensors (such as lidar, cameras, inertial measurement units, etc.) to estimate the robot's own position in real time while building a map of the surrounding environment. This process is crucial to the autonomous navigation of automatic patrol robots, allowing the robot to autonomously explore and memorize environmental features without a preset map, and achieve efficient and accurate path planning and obstacle avoidance.

[0004] Traditional automatic patrol robots rely on pre-set paths and fixed maps for navigation, which limits their adaptability and flexibility in complex and changing environments. With the development of SLAM technology, modern patrol robots are able to achieve autonomous navigation in unknown or dynamic environments, improving the reliability and efficiency of task execution. These robots usually integrate multiple sensors to enhance environmental perception capabilities, and combine advanced algorithms to process sensor data to ensure high-precision positioning and map construction. Although the application of SLAM technology in automatic patrol robots has made significant progress, it still lacks a certain degree of adaptive ability and cannot be adaptively adjusted according to different ground conditions and working environments. Utility Model Content

[0005] The utility model aims to provide an automatic patrol robot based on SLAM to solve the problem that the existing automatic patrol robots lack the ability to adapt to terrain and cannot perform adaptive adjustments according to different ground conditions and working environments.

[0006] The technical solution of the utility model to solve the above technical problems is as follows:

[0007] An SLAM-based automatic patrol robot, comprising: a chassis and a pan-tilt mounted on top of the chassis; the chassis includes wheels, shock absorbers, and a frame connected in sequence, and a motor for driving the wheels and a motor speed controller for controlling the motor speed are provided inside the frame; a slip ring structure is provided between the pan-tilt and the chassis, and an electronic control module for the robot's patrol process and an electronic control system communicatively connected to the electronic control module are provided on the pan-tilt.

[0008] Further, the electronic control module includes a positioning module and an alarm module respectively communicatively connected to the electronic control system.

[0009] Further, the positioning module includes a lidar and an inertial sensor communicatively connected to each other.

[0010] Further, a camera is provided on top of the pan-tilt.

[0011] Further, the electronic control system includes a sensor drive module, a sensor data processing module, an identification module, a positioning and navigation data processing module, and a communication module.

[0012] Further, a "丰"-shaped structure for increasing the stiffness of the frame is provided at the bottom of the frame.

[0013] The utility model has the following beneficial effects:

[0014] 1. High-precision positioning and navigation: The positioning module combines a lidar and an inertial sensor to enable precise positioning in complex environments. The lidar scans the surrounding environment to construct or update map information, while the inertial sensor (such as a gyroscope and an accelerometer) provides instant motion attitude information. The two work together to ensure that the robot can accurately locate its own position during patrol, and maintain navigation accuracy even in indoor environments with poor GPS signals.

[0015] 2. Stable monitoring ability: The design of the pan-tilt with a slip ring structure enables the camera mounted on top to rotate smoothly and flexibly horizontally and vertically, without being affected by the movement of the chassis, capturing clear and stable video monitoring images, which is particularly important for security patrol, anomaly detection, and remote monitoring.

[0016] 3. Enhanced environmental adaptability and obstacle avoidance ability: The shock absorption design and the "丰"-shaped reinforcement structure of the chassis improve the stability and durability of the robot, enabling it to drive stably on uneven ground, reducing the impact of vibrations on electronic devices, and at the same time enhancing the stiffness of the overall structure to ensure that the robot can still operate stably and effectively avoid obstacles when encountering obstacles or complex terrains during patrol.

[0017] 4. Intelligent Alarm and Response Mechanism: The alarm module integrated in the electronic control module can respond quickly when detecting abnormal situations, trigger an alarm through the electronic control system, notify the management personnel in a timely manner or take preset safety measures, enhancing the robot's autonomous emergency handling ability.

[0018] 5. Modularity and Scalability: The design adopts a modular structure, such as motors, speed controllers, electronic control modules, etc., which are easy to maintain and upgrade. The communication interfaces reserved on the electronic control module at the top of the pan-tilt are also convenient for adding more functional modules in the future, such as thermal imaging cameras, sound recognition systems, etc., improving the flexibility and adaptability of the system. Description of the Drawings

[0019] Figure 1 is a schematic structural diagram of the present utility model;

[0020] Figure 2 is a bottom view of the present utility model;

[0021] Figure 1 to Figure 2 The reference numerals shown in are respectively represented as: chassis 1, pan-tilt 2, wheels 11, shock absorbers 12, frame 13, "丰"-shaped structure 14, slip ring structure 3. Detailed Embodiment

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0023] This embodiment discloses an automatic patrol robot based on Simultaneous Localization and Mapping (SLAM) technology. The robot integrates an advanced mobile platform design and intelligent monitoring functions, aiming to provide an efficient and autonomous patrol solution.

[0024] Please refer to Figure 1-2 , the automatic patrol robot mainly consists of a chassis 1 and a pan-tilt 2 located on top of it. The chassis 1 adopts wheels 11, shock absorbers 12 and a frame 13 connected in sequence, ensuring the smooth driving of the robot and its terrain adaptability. The wheels 11 are driven by an internal motor and are equipped with a motor speed controller, which can adjust the speed according to the patrol environment and task requirements to achieve precise control. Inside the frame 13, not only the motor is integrated, but also a reinforced structure is specially designed - the "丰"-shaped structure 14 added at the bottom, significantly improving the overall stiffness and enabling it to remain stable even on complex or rough ground.

[0025] The gimbal 2 is connected to the chassis 1 through a multi-link structure. This design allows the gimbal to rotate flexibly and expand the monitoring field of view. The gimbal 2 is equipped with an electronic control module, which is the core of the robot's intelligent decision-making. It not only communicates closely with the electronic control system, but also integrates the positioning module and the alarm module. Among them, the positioning module uses the collaborative work of laser radar and inertial sensors to build and update the map of the surrounding environment in real time through the SLAM algorithm, while accurately locating its own position to ensure the accuracy of the patrol path. The addition of inertial sensors further improves the positioning stability in dynamic environments. In order to enhance the monitoring capability, a high-definition camera is installed on the top of the gimbal, which can monitor the patrol area 360 degrees without blind spots, capture image information for subsequent analysis or real-time transmission to the remote monitoring center.

[0026] The electronic control system is a highly integrated processing unit, which includes a sensor driver module to activate and manage various sensors, a sensor data processing module responsible for processing large amounts of data from sensors such as lidar and cameras, a recognition module used to identify specific targets or abnormal situations, a positioning and navigation data processing module for path planning and self-navigation based on SLAM data, and a communication module to ensure stable information exchange between the robot and external systems.

[0027] In order to adapt to more complex terrain, the shock absorption part adopts a suspension structure, so that the robot can pass through complex terrain smoothly. The shock absorber 12 adopts a Xidi shock absorber plus a tension spring to ensure the stability of the suspension part. The mechanical structure of the chassis 1 adopts a McLennan chassis, which has a certain degree of self-adaptation and can be adjusted according to different ground conditions and working environments.

[0028] For some small potholes or undulations, flying over the slope can reduce a part of the road, and the performance of the automatic patrol robot can achieve this goal, and the flying slope distance can be at least 600mm. Therefore, guide wheels are installed at the front and rear positions of the robot frame 13 to play a buffering role after flying over the slope, so that it can land smoothly; shock absorbers 12 are installed on each wheat wheel group to reduce the impact on the chassis when landing over the slope.

[0029] In order to extend the patrol standby time and improve the response capability in emergency situations, it is necessary to limit the power function of the vehicle to a certain extent, and use cached energy for firefighting in emergency situations. Use the power control board and supercapacitor group to improve the control code of the power upper limit in different situations, reasonably control the power of chassis 1, and use cached energy in time in emergency situations.

[0030] Positioning and navigation: The automatic patrol robot operates fully autonomously. When in working state, it needs to patrol automatically in a fixed area. Therefore, the robot needs to determine its own position in the area, map the area, and plan the path. The robot uses the acml algorithm that combines lidar and IMU sensors for positioning, and uses a combination of global cost maps and local cost maps for path planning.

[0031] In this embodiment, the electric control module and the electric control system adopt existing technologies, and the communication connection methods include but are not limited to: 4g, 5g, WiFi, Bluetooth, etc.

[0032] To sum up, the SLAM-based automatic patrol robot of this embodiment realizes autonomous patrol, real-time monitoring and rapid response capabilities in various environments through its carefully designed mechanical structure, efficient electronic control system and integrated high-precision sensor components, providing advanced and reliable automation solutions for security monitoring, industrial inspection and other fields.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic patrol robot based on SLAM, characterized in that: Including: A chassis (1) and a pan-tilt (2) disposed on the top of the chassis (1); the chassis (1) includes a wheel (11), a shock absorber (12), and a frame (13) connected in sequence, and a motor for driving the wheel (11) and a motor speed regulator for controlling the rotation speed of the motor are provided inside the frame (13); a slip ring structure (3) is provided between the pan-tilt (2) and the chassis (1), and an electronic control module for the robot patrol process and an electronic control system communicatively connected to the electronic control module are provided on the pan-tilt (2).

2. The SLAM-based automatic patrol robot according to claim 1, characterized in that: The electronic control module includes a positioning module and an alarm module that are respectively communicatively connected to the electronic control system.

3. The SLAM-based automatic patrol robot according to claim 2, characterized in that: The positioning module includes a lidar and an inertial sensor that are communicatively connected to each other.

4. The SLAM-based automatic patrol robot according to claim 1, characterized in that: A camera (4) is provided on the top of the pan-tilt (2).

5. The SLAM-based automatic patrol robot according to claim 1, characterized in that: The electronic control system includes a sensor drive module, a sensor data processing module, an identification module, a positioning and navigation data processing module, and a communication module.

6. The SLAM-based automatic patrol robot according to claim 1, characterized in that: A "丰”-shaped structure (14) for increasing the stiffness of the frame (13) is provided at the bottom of the frame (13).

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